Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 360)

Publication 1784-UM003A-EN-P – June 2003
352 Motion Object Attributes
Acceleration Command Acceleration Command is the current acceleration reference to the output
summing junction, in the configured axis Position Units per Second
2
, for the
specified axis. The Acceleration Command value, hence, represents the output
of the inner velocity control loop. Acceleration Command is not to be
confused with Command Velocity, which represents the rate of change of
Command Position input to the position servo loop.
Acceleration Feedback Acceleration Feedback is the actual velocity of the axis as estimated by the
servo module, in the configured axis Position Units per Second
2 . The
Estimated Acceleration is calculated by taking the difference in the Estimated
Velocity over the servo update interval. Acceleration Feedback is a signed
value—the sign (+ or -) depends on which direction the axis is currently
moving.
Marker Distance Marker Distance is the distance between the axis position at which a home
switch input was detected and the axis position at which the marker event was
detected. This value is useful in aligning a home limit switch relative to a
feedback marker pulse to provide repeatable homing operation.
Torque Command This is the command value when operating in torque mode.
Torque Feedback This is the torque feedback value when operating in torque mode.
GSV/SSV Access Attribute Name Data Type Values
GSV Acceleration Command REAL
Position Units / Sec
2
GSV/SSV Access Attribute Name Data Type Values
GSV Acceleration Feedback REAL
Position Units / Sec
2
GSV/SSV Access Attribute Name Data Type Values
GSV Marker Distance REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Torque Command REAL %Rated
GSV/SSV Access Attribute Name Data Type Values
GSV Torque Feedback REAL %Rated